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Optimal second order integral sliding mode control for a flexible joint robot manipulator
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The flexible joint robot manipulators provide various benefits, but also present many control challenges such as nonlinearities, strong coupling, vibration, etc. This paper proposes optimal second order integral sliding mode control (OSOISMC) for a single link flexible joint manipulator to achieve robust and smooth performance. Firstly, the integral sliding mode control is designed, which consists of a linear quadratic regulator (LQR) as a nominal control, and switching control. This control guarantees the system robustness for the entire process. Then, a nonsingularterminal sliding surface is added to give a second order integral sliding mode control (SOISMC), which reduces chartering effect and gives the finite time convergence as well. Simulation results show superiority of the proposed algorithm over LQR and ISMC in terms of tracking performance and chattering mitigation.

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Publication Date
Mon Feb 18 2019
Journal Name
Iraqi Journal Of Physics
STVI calculating the changes in vegetable cover for a vegetated environment in west Iraq
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Remote sensing provide the best means to monitoring change in vegetation over a wide range of temporal scales over large areas. In this study, the vegetation index which has been applied known as the Stress Related Vegetation Index (STVI) on in the area around the Euphrates River and part of Al-Habbaniyah lake which located at western side of the river in Ramadi city, Al-Anbar province at Iraq to study the vegetation cover changes and detect the areas of changes, using two satellite sensors multispectral images such as TM and ALI, after geometric correction procedure to rectifying these images. The STVI-4 index result was the best than other vegetation indices (STVI-1 and STVI-3) to discriminate the vegetable cover distribution. The diff

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Publication Date
Wed Nov 02 2022
Journal Name
Clinical Oral Investigations
Development of a remineralizing calcium phosphate nanoparticle-containing self-etching system for orthodontic bonding
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Abstract<sec> <title>Objectives

This study aimed to incorporate hydroxyapatite nanoparticles (nHA) or amorphous calcium phosphate nanoparticles (nACP) into a self-etch primer (SEP) to develop a simplified orthodontic bonding system with remineralizing and enamel preserving properties.

Materials and Methods

nHA and nACP were incorporated into a commercial SEP (Transbond™ plus) in 7% weight ratio and compared with the plain SEP as a control. Shear bond strengths (SBS), enamel damage, and adhesive remnant index (ARI) scores were evaluated at 24 h

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Publication Date
Sun Jan 01 2023
Journal Name
Rawal Medical Journal
Efficacy of lumbar interlaminar epidural steroid injections for lumbar spinal stenosis: A prospective study
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Objective: To study the effect of epidural spinal injection over one year in case of spinal stenosis. Methodology: This prospective study included 566 patients with spinal stenosis seen at Al-Kindy Teaching and Al-Sader, Hospitals who were treated by local epidural steroid injection. They were followed up for at least five subsequent visits after seven days, one month, three months, six months, and one year to assess efficacy. Result: Mean age of patients was 49.5 years, with a predominance of females (65%). L4/L5 was the most involved level in the spinal stenosis (70%). Grade II stenosis accounted for (45.4%) of cases. The pairwise comparison revealed that there was significant decrease in proportions of patients with pain in day

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Publication Date
Sat Jan 30 2021
Journal Name
Iraqi Journal Of Science
A mathematical model for the dynamics of COVID-19 pandemic involving the infective immigrants
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‎  Since the first outbreak in Wuhan, China, in December 31, 2019, COVID-19    pandemic  ‎has been spreading to many countries in the world. The ongoing COVID-19 pandemic has caused a ‎major global crisis, with 554,767 total confirmed cases, 484,570 total recovered cases, and ‎‎12,306 deaths in Iraq as of February 2, 2020. In the absence of any effective therapeutics or drugs ‎and with an unknown epidemiological life cycle, predictive mathematical models can aid in ‎the understanding of both control and management of coronavirus disease. Among the important ‎factors that helped the rapid spread of the ep

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Publication Date
Tue Jan 01 2019
Journal Name
Energy Procedia
Calculating Surface Roughness for a Large Scale SEM Images by Mean of Image Processing
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Publication Date
Mon Jan 28 2019
Journal Name
Iraqi Journal Of Science
Building a 3D Petrophysical Model for Mishrif Formation in Nasiriyah Oil Field, Southern Iraq
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A 3D geological model for Mishrif Reservoir in Nasiriyah oil field had been invented "designed" "built". Twenty Five wells namely have been selected lying in Nasiriyah  Governorate in order to build Structural and petrophysical (porosity and water saturation) models represented by a 3D static geological model in three directions .Structural model showed that Nasiriyah oil field represents anticlinal fold its length about 30 km and the width about 10  km, its axis extends toward NW–SE  with structural closure about 65 km . After making zones for Mishrif reservoir, which was divided into 5 zones i.e. (MA zone, UmB 1zone,MmB1 zone ,L.mB1 zone and mB2zone) .Layers were built for each zone depending on petrophysical propertie

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Publication Date
Tue Jun 01 2021
Journal Name
Journal Of Planner And Development
Case studies on urban agriculture as a planning strategy for achieving sustainability in cities
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 Urban agriculture is one of the important urban uses of land in cities since the inception of cities and civilizations, but the great expansion of cities in the world during the twentieth century and the beginning of the twentieth century and the increase in the number of urban residents compared to the rural population has led to a decline in this use in favor of other uses.

 This decline in agricultural and green land areas in cities has negatively affected the environment, natural life and biological diversity in cities in addition to the great impact on the climate and the increase in temperatures and the negative impact on the economic side, since urban agriculture is an important pillar of the economy, especially

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Publication Date
Sat Dec 01 2018
Journal Name
Al-khwarizmi Engineering Journal
Co-digestion of Shumblan with Different Wastes as a Source for the Biogas Production
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Shumblan (SH) is one of the most undesirable aquatic plants widespread in the irrigation channels and water bodies. This work focuses on boosting the biogas potential of shumblan by co-digesting it with other types of wastes without employing any chemical or thermal pretreatments as done in previous studies. A maximum biogas recovery of 378 ml/g VS was reached using shumblan with cow manure as inoculum in a ratio of 1:1. The methane content of the biogas was 55%. Based on volatile solid (VS) and C/N ratios, biogas productions of 518, 434, and 580 ml/g VS were obtained when the shumblan was co-digested with food wastes (SH:F), paper wastes (SH:P), and green wastes (SH:G) respectively. No significant changes of methane contents were observ

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Publication Date
Sat Apr 15 2023
Journal Name
Iraqi Journal Of Science
Building A 3D Geological model Using Petrel Software for Asmari Reservoir, South Eastern Iraq
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Building a 3D geological model from field and subsurface data is a typical task in
geological studies involving natural resource evaluation and hazard assessment. In
this paper a 3D geological model for Asmari Reservoir in Fauqi oil field has been
built using petrel software. Asmari Reservoir belongs to (Oligocene- Lower
Miocene), it represents the second reservoir products after Mishrif Reservoir in Fauqi
field. Five wells namely FQ6, FQ7, FQ15, FQ20, FQ21 have been selected lying in
Missan governorate in order to build Structural and petrophysical (porosity and water
saturation) models represented by a 3D static geological model in three directions
.Structural model shows that Fauqi oil field represents un cylin

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Publication Date
Thu Dec 01 2016
Journal Name
Journal Of Engineering
A Hybrid Coefficient Decimation- Interpolation Based Reconfigurable Low Complexity Filter Bank for Cognitive Radio
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Non uniform channelization is a crucial task in cognitive radio receivers for obtaining separate channels from the digitized wideband input signal at different intervals of time. The two main requirements in the channelizer are reconfigurability and low complexity. In this paper, a reconfigurable architecture based on a combination of Improved Coefficient Decimation Method (ICDM) and Coefficient Interpolation Method (CIM) is proposed. The proposed Hybrid Coefficient Decimation-Interpolation Method (HCDIM) based filter bank (FB) is able to realize the same number of channels realized using (ICDM) but with a maximum decimation factor divided by the interpolation factor (L), which leads to less deterioration in stop band at

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